Differential GPS, commonly referred as DGPS, is a well-known and very accurate localization system for many outdoor applications in particular for mobile outdoor robotics. The most common drawback of DGPS systems are the high costs for both base station and receivers. In this paper, we present a setup that uses third-party open-source software and a Ublox ZED-F9P chip to build a ROS-enabled low-cost DGPS setup that is ready to use in a few hours. The main goal of this paper is to analyze and evaluate the repetitive and absolute accuracy of the system. The first measurement also examines the differences between a SAPOS base station and a locally installed one consisting of low-cost components. During the evaluation process of the absolute accuracy, a moving mobile robot is used on the receiver side. It is tracked through a highly accurate VICON motion capture system.

翻译：差分全球定位系统（DGPS）是一种众所周知且精度很高的定位系统，适用于许多户外应用，尤其是移动户外机器人领域。DGPS系统最常见的缺点是基站和接收器的高昂成本。在本文中，我们提出了一种由第三方开源软件和Ublox ZED-F9P芯片组成的方案，以构建一个支持ROS的低成本DGPS系统，该系统可在数小时内投入使用。本文的主要目标是分析和评估该系统的重复精度和绝对精度。第一项测量还比较了SAPOS基站与由低成本组件构成的本地基站之间的差异。在评估绝对精度的过程中，接收端使用了一台移动机器人，并通过高精度的VICON运动捕捉系统进行跟踪。